#include <sr_plain_pid.hpp>

Classes
struct	Gains
	Store gains in a struct to allow easier realtime buffer usage. More...

Public Member Functions
double	computeCommand (double error, ros::Duration dt)
	Set PID gains for the controller. More...

double	computeCommand (double error, double error_dot, ros::Duration dt)
	Set the PID error and compute the PID command with nonuniform time step size. This also allows the user to pass in a precomputed derivative error. More...

double	getCurrentCmd ()
	Return current command for this PID controller. More...

void	getCurrentPIDErrors (double pe, double ie, double *de)
	Return PID error terms for the controller. More...

void	getGains (double &p, double &i, double &d, double &i_max, double &i_min)
	Get PID gains for the controller. More...

void	getGains (double &p, double &i, double &d, double &i_max, double &i_min, bool &antiwindup)

bool	init (const ros::NodeHandle &n, const bool quiet=false)
	Initialize PID with the parameters in a NodeHandle namespace Initializes dynamic reconfigure for PID gains. More...

bool	initParam (const std::string &prefix, const bool quiet=false)
	Initialize PID with the parameters in a namespace Initializes dynamic reconfigure for PID gains. More...

void	initPid (double p, double i, double d, double i_max, double i_min, bool antiwindup=false)
	Zeros out Pid values and initialize Pid-gains and integral term limits Does not initialize dynamic reconfigure for PID gains. More...

bool	initXml (TiXmlElement *config)
	Initialize PID with the parameters in an XML element Initializes dynamic reconfigure for PID gains. More...

	PlainPid (double p=0.0, double i=0.0, double d=0.0, double i_max=0.0, double i_min=-0.0, bool antiwindup=false)
	Constructor, zeros out Pid values when created and initialize Pid-gains and integral term limits. Does not initialize dynamic reconfigure for PID gains. More...

void	printValues ()
	Print to console the current parameters. More...

void	reset ()
	Reset the state of this PID controller. More...

void	setCurrentCmd (double cmd)
	Set current command for this PID controller. More...

void	setGains (double p, double i, double d, double i_max, double i_min, bool antiwindup=false)
	Set PID gains for the controller. More...

ROS_DEPRECATED double	updatePid (double p_error, ros::Duration dt)
	Update the Pid loop with nonuniform time step size. More...

ROS_DEPRECATED double	updatePid (double error, double error_dot, ros::Duration dt)
	Update the Pid loop with nonuniform time step size. This update call allows the user to pass in a precomputed derivative error. More...

	~PlainPid ()
	Destructor of Pid class. More...

Public Attributes
Gains	pid_gains
	Get PID gains for the controller. More...

Private Attributes
double	cmd_

double	d_error_

double	i_error_

double	p_error_

double	p_error_last_

Detailed Description

Definition at line 110 of file sr_plain_pid.hpp.

Constructor & Destructor Documentation

controller::PlainPid::PlainPid	(	double	p = `0.0`,
		double	i = `0.0`,
		double	d = `0.0`,
		double	i_max = `0.0`,
		double	i_min = `-0.0`,
		bool	antiwindup = `false`
	)

Constructor, zeros out Pid values when created and initialize Pid-gains and integral term limits. Does not initialize dynamic reconfigure for PID gains.

Parameters

p	The proportional gain.
i	The integral gain.
d	The derivative gain.
i_max	The max integral windup.
i_min	The min integral windup.

Definition at line 52 of file sr_plain_pid.cpp.

controller::PlainPid::~PlainPid ( )

Destructor of Pid class.

Definition at line 59 of file sr_plain_pid.cpp.

Member Function Documentation

double controller::PlainPid::computeCommand	(	double	error,
		ros::Duration	dt
	)

Set PID gains for the controller.

Parameters

gains A struct of the PID gain values

Set the PID error and compute the PID command with nonuniform time step size. The derivative error is computed from the change in the error and the timestep dt.

Parameters

error	Error since last call (error = target - state)
dt	Change in time since last call

Returns: PID command

Definition at line 172 of file sr_plain_pid.cpp.

double controller::PlainPid::computeCommand	(	double	error,
		double	error_dot,
		ros::Duration	dt
	)

Set the PID error and compute the PID command with nonuniform time step size. This also allows the user to pass in a precomputed derivative error.

Parameters

error	Error since last call (error = target - state)
error_dot	d(Error)/dt since last call
dt	Change in time since last call

Returns: PID command

Definition at line 194 of file sr_plain_pid.cpp.

double controller::PlainPid::getCurrentCmd ( )

Return current command for this PID controller.

Definition at line 249 of file sr_plain_pid.cpp.

void controller::PlainPid::getCurrentPIDErrors	(	double *	pe,
		double *	ie,
		double *	de
	)

Return PID error terms for the controller.

Parameters

pe	The proportional error.
ie	The integral error.
de	The derivative error.

Definition at line 254 of file sr_plain_pid.cpp.

void controller::PlainPid::getGains	(	double &	p,
		double &	i,
		double &	d,
		double &	i_max,
		double &	i_min
	)

Get PID gains for the controller.

Parameters

p	The proportional gain.
i	The integral gain.
d	The derivative gain.
i_max	The max integral windup.
i_min	The min integral windup.

Definition at line 146 of file sr_plain_pid.cpp.

void controller::PlainPid::getGains	(	double &	p,
		double &	i,
		double &	d,
		double &	i_max,
		double &	i_min,
		bool &	antiwindup
	)

Definition at line 152 of file sr_plain_pid.cpp.

bool controller::PlainPid::init	(	const ros::NodeHandle &	n,
		const bool	quiet = `false`
	)

Initialize PID with the parameters in a NodeHandle namespace Initializes dynamic reconfigure for PID gains.

Parameters

n	The NodeHandle which should be used to query parameters.
quiet	If true, no error messages will be emitted on failure.

Definition at line 76 of file sr_plain_pid.cpp.

bool controller::PlainPid::initParam	(	const std::string &	prefix,
		const bool	quiet = `false`
	)

Initialize PID with the parameters in a namespace Initializes dynamic reconfigure for PID gains.

Parameters

prefix	The namespace prefix.
quiet	If true, no error messages will be emitted on failure.

Definition at line 70 of file sr_plain_pid.cpp.

void controller::PlainPid::initPid	(	double	p,
		double	i,
		double	d,
		double	i_max,
		double	i_min,
		bool	antiwindup = `false`
	)

Zeros out Pid values and initialize Pid-gains and integral term limits Does not initialize dynamic reconfigure for PID gains.

Parameters

p	The proportional gain.
i	The integral gain.
d	The derivative gain.
i_max	The max integral windup.
i_min	The min integral windup.

Definition at line 63 of file sr_plain_pid.cpp.

bool controller::PlainPid::initXml ( TiXmlElement * config )

Initialize PID with the parameters in an XML element Initializes dynamic reconfigure for PID gains.

Parameters

config the XML element

Definition at line 119 of file sr_plain_pid.cpp.

void controller::PlainPid::printValues ( )

Print to console the current parameters.

Definition at line 261 of file sr_plain_pid.cpp.

void controller::PlainPid::reset ( )

Reset the state of this PID controller.

Definition at line 137 of file sr_plain_pid.cpp.

void controller::PlainPid::setCurrentCmd ( double cmd )

Set current command for this PID controller.

Definition at line 244 of file sr_plain_pid.cpp.

void controller::PlainPid::setGains	(	double	p,
		double	i,
		double	d,
		double	i_max,
		double	i_min,
		bool	antiwindup = `false`
	)

Set PID gains for the controller.

Parameters

p	The proportional gain.
i	The integral gain.
d	The derivative gain.
i_max	The max integral windup.
i_min	The min integral windup.

Definition at line 162 of file sr_plain_pid.cpp.

double controller::PlainPid::updatePid	(	double	p_error,
		ros::Duration	dt
	)

Update the Pid loop with nonuniform time step size.

Deprecated:: in ROS Hydro. This function assumes p_error = (state - target) which is an unconventional definition of the error. Please use computeCommand instead, which assumes error = (target - state) . Note that calls to computeCommand should not be mixed with calls to updatePid.

Parameters

p_error	Error since last call (p_state-p_target)
dt	Change in time since last call

Definition at line 189 of file sr_plain_pid.cpp.

double controller::PlainPid::updatePid	(	double	error,
		double	error_dot,
		ros::Duration	dt
	)

Update the Pid loop with nonuniform time step size. This update call allows the user to pass in a precomputed derivative error.

Deprecated:: in ROS Hydro. This function assumes p_error = (state - target) which is an unconventional definition of the error. Please use computeCommand instead, which assumes error = (target - state) . Note that calls to computeCommand should not be mixed with calls to updatePid.

Parameters

error	Error since last call (p_state-p_target)
error_dot	d(Error)/dt since last call
dt	Change in time since last call

Definition at line 239 of file sr_plain_pid.cpp.

Member Data Documentation

double controller::PlainPid::cmd_

private

Command to send.

Definition at line 336 of file sr_plain_pid.hpp.

double controller::PlainPid::d_error_

private

Derivative of position error.

Definition at line 335 of file sr_plain_pid.hpp.

double controller::PlainPid::i_error_

private

Integral of position error.

Definition at line 334 of file sr_plain_pid.hpp.

double controller::PlainPid::p_error_

private

Position error.

Definition at line 333 of file sr_plain_pid.hpp.

double controller::PlainPid::p_error_last_

private

_Save position state for derivative state calculation.

Definition at line 332 of file sr_plain_pid.hpp.

Gains controller::PlainPid::pid_gains

Get PID gains for the controller.

Returns: gains A struct of the PID gain values

Definition at line 234 of file sr_plain_pid.hpp.

The documentation for this class was generated from the following files:

Classes

Public Member Functions

Public Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation